Kiguchi Kazuo, Hayashi Yoshiaki, Asami Toyoko
Dept. Advanced Technology Fusion, Saga University, Saga, Japan.
IEEE Int Conf Rehabil Robot. 2011;2011:5975390. doi: 10.1109/ICORR.2011.5975390.
A tremor is somewhat rhythmic motion that may occur in various body parts. An essential tremor is one of the most common tremor disorders of the arm and it may occur during a voluntary motion. If the essential tremor occurs in the arm, the person may not be able to achieve the target task properly since the human performs various sensitive tasks with certain tools. Suppressing the vibration of the grasped tool is important when the person uses the tool. Power-assist robots are useful for not only the physically weak persons but also for persons involved in physically-taxing work such as a care or a farm work. Although some power-assist robots are controlled by using electromyogram (EMG) signals, EMG signals are influenced by the essential tremor. Therefore, when the user who suffers from the tremor uses the power-assist robot controlled based on EMG signals, the robot might assist the vibration of the tremor. In this paper, the tremor suppression control method is proposed for upper-limb power-assist robot. In proposed method, the vibrations of the hand and the tip of the tool are suppressed. The validity of the proposed method was verified by the experiments.
震颤是一种可能出现在身体各个部位的有一定节奏的运动。特发性震颤是手臂最常见的震颤疾病之一，它可能在自主运动时出现。如果特发性震颤出现在手臂，由于人类使用特定工具执行各种精细任务，此人可能无法正确完成目标任务。当人使用工具时，抑制被握持工具的振动很重要。助力机器人不仅对身体虚弱的人有用，对从事诸如护理或农活等体力消耗大的工作的人也很有用。尽管一些助力机器人通过使用肌电图（EMG）信号进行控制，但EMG信号会受到特发性震颤的影响。因此，当患有震颤的用户使用基于EMG信号控制的助力机器人时，机器人可能会辅助震颤的振动。本文提出了一种用于上肢助力机器人的震颤抑制控制方法。在所提出的方法中，手部和工具尖端的振动被抑制。通过实验验证了所提方法的有效性。
